VelocityFeed

This core function is used to start the axis at a commanded velocity without a defined target position.

Properties

Name	Type	Access	Description
InitState	BOOL	Get, Set	The core function is not completely and successfully initialized.
FB_VelocityFeed
GearFactor	LREAL	Get, Set	The factor with which to respond to GuidingValue.
GuidingValue	LREAL	Get, Set	The commanded velocity.
Limiting	LREAL	Get, Set	Setpoint for the limitation (e.g., torque, pressure) during command execution.
FB_CorefunctionFeedback
AbortedState	BOOL	Get, Set	Signals the abort of a command by another Corefunction.
BusyState	BOOL	Get, Set	Signals the active execution of a command.
DoneState	BOOL	Get, Set	Signals the successful execution of a command.
IdleState	BOOL	Get, Set	The Corefunction is ready for operation and commandable.
IsCommanded	BOOL	Get	Signals the pending of a command.
FB_Corefunction
FailedState	BOOL	Get, Set	If IsActivated is TRUE at the same time: Signals the failure of an accepted command. If IsActivated is FALSE at the same time: Signals the rejection of a command.
HasFeedback	BOOL	Get	The core function has responded to a pending command.
IsActivated	BOOL	Get	The core function has an accepted command pending.
IsLocalCmd	BOOL	Get	Signals that the axis is assigned with a command of this core function.
ReadyState	BOOL	Get, Set	The Corefunction is ready for operation, but is not commandable at this time. Possible reasons are: - The axis is not enabled. - Another Corefunction is active. - The Corefunction does not support any commands.

	Decouple the axis A GearFactor of 0.0 will effectively decouple the axis from the GuidingValue.

	Move in the opposite direction A negative GearFactor causes the axis to move in the opposite direction.

Methods

Name	Description
[`INTERN`] Cyclic()	This method is called cyclically by the axis.
FB_VelocityFeed
DoFeed()	A rising edge triggers the core function.

Interfaces

Type	Description
I_Corefunction	Standard interface on FB_Corefunction.
I_VelocityFeed	Standard interface on FB_VelocityFeed.
I_CorefunctionFeedback	Standard interface on FB_CorefunctionFeedback.

Example:

IF bCmdVeloFeed THEN

    iAxisBase.VelocityFeed.GearFactor := 1.0;
    iAxisBase.VelocityFeed.GuidingValue := 20.0;    // [mm/s]
    iAxisBase.VelocityFeed.DoFeed(TRUE);

ELSIF iAxisBase.VelocityFeed.IsCommanded THEN

    iAxisBase.VelocityFeed.DoFeed(FALSE);
END_IF

Requirements

Development Environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.66	PC or CX (x64, x86)	Tc3_PlasticFunctions (>= v12.10.0.0)

Further Information

DoFeed()